Sliding Mode Control Using an Integrator Controller and Implementation For a Three-Tank System

In this paper, the nonlinear sliding mode control (NSMC) combined with a non linear Integral corrector is proposed. Initially, NSMC is applied only when the states of the system are far away from the setpoint, if the system is in a closed loop and its state is close to the reference, an integral component is added. The stability and the robustness of the closed-loop system are proven analytically using the Lyapunov synthesis approach. The proposed method attenuates the effect of both uncertainties and external disturbances, moreover eliminates the chattering phenomenon introduced by classical sliding-mode control. The application of this method to the three-tank system gives encouraging results which are presented and commented in this paper.